CN110044183A - A kind of off-square detection automatic charging method based on machine vision - Google Patents
A kind of off-square detection automatic charging method based on machine vision Download PDFInfo
- Publication number
- CN110044183A CN110044183A CN201910238856.5A CN201910238856A CN110044183A CN 110044183 A CN110044183 A CN 110044183A CN 201910238856 A CN201910238856 A CN 201910238856A CN 110044183 A CN110044183 A CN 110044183A
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- China
- Prior art keywords
- machine vision
- steel billet
- recognition system
- vision recognition
- steel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D19/00—Arrangements of controlling devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
- F27D21/02—Observation or illuminating devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/02—Skids or tracks for heavy objects
- F27D3/026—Skids or tracks for heavy objects transport or conveyor rolls for furnaces; roller rails
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D19/00—Arrangements of controlling devices
- F27D2019/0003—Monitoring the temperature or a characteristic of the charge and using it as a controlling value
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
- F27D21/02—Observation or illuminating devices
- F27D2021/026—Observation or illuminating devices using a video installation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Heat Treatments In General, Especially Conveying And Cooling (AREA)
Abstract
A kind of off-square detection automatic charging method based on machine vision, is related to field of machinery automation, comprising the following steps: four coordinates of machine vision recognition system identification object of reference profile；Machine vision recognition system is calculated two vanishing points, is determined horizon by four coordinates of object of reference；Machine vision recognition system identifies steel billet end profile, determines the apex coordinate of end face four；Machine vision recognition system determines whether the profile line segment of object of reference and the end profile line segment of steel billet are parallel, judges whether steel billet is off-square base；If machine vision recognition system determines that steel billet is off-square base, the operation of automatic rejection steel billet can be performed.The present invention utilizes the off-square base of the method intelligent recognition feeding skid of machine vision, and the off-square base that will identify that is rejected automatically, can stablize heating stove heating rhythm, reduce producing line piling of steel risk, promote producing line operating rate.
Description
Technical field
The present invention relates to field of machinery automation, more specifically refer to that a kind of off-square detection based on machine vision is automatic
Charging method.
Background technique
Heater for rolling steel occupies an important position in iron and steel enterprise, its task is to heat steel billet, make steel billet temperature and
Its Temperature Distribution meets rolling requirements.Heating furnace feeding device is by the device of steel billet conveying to heating furnace, mainly by feeding platform
Frame, dials steel fork and rollgang composition at gear steel hook.In feeding blank, off-square base be a kind of influence heating stove heating always with
The important hidden danger of production.The accidents such as operation of rolling piling of steel, blowing out as caused by off-square base directly affect manufacturing enterprise every year
Effectiveness of operation.Off-square detection at present mainly passes through the cross sectional shape of eye-observation steel billet, after finding doubtful off-square base, by people
Work carries out diagonal cross section measurement and notifies operator manually to exclude off-square base whens discovery diagonal line does not wait.Entire behaviour
It is uninteresting to make process mechanism, artificial long period of operation is easy fatigue and causes operation error so as to cause failure.
The related public technology detected at present for heating furnace automatic charging, off-square base has:
Chinese invention patent application " the heating based on visible images identification technology that number of patent application is 201711244182.7
Furnace automatical feeding system " a kind of feeding system, including feeding skid, gear steel hook, group steel fork and rollgang are disclosed, keep off steel hook
It is set to feeding skid side, it further includes two visible lights that rollgang, which is used to for steel billet being transported to by feeding skid, which dials steel fork,
Video camera, two sets of LED light sources, automatic control unit and feeding skid electric-control system, it is seen that light video camera is parallel to steel billet section
It is arranged and is mounted on feeding skid outlet two sides；LED light source is arranged close to visible light camera and is directed at the irradiation of steel billet section；From
Dynamic control unit is connect with visible light camera and feeding skid electric-control system, feeding skid electric-control system and feeding skid, gear
Steel hook dials steel fork connection；Automatic control unit includes image processing module, decision-making module and communication module.But the program does not have
The steel billet shape steel billet base that deformation occurs is detected, once shaped blank enters in furnace, equipment is damaged in possible more furnaces
It is impacted with to production, causes unpredictable loss.
" pusher-type furnace two-wire is automatically into steel for the Chinese invention patent application that number of patent application is 201711326061.7
Method " disclose it is a kind of automatically into steel method, pusher-type furnace A, B line card it is disconnected cut before a heat is respectively installed at steel splitting machine
Metal detector, signal when by previous steel billet through too drastic inspection, judge that previous steel billet enter is A line or B line, from
And the motor-driven work of A, B line traffic control steel splitting；After heat examines blackout, according to A, B line steel billet for detecting pusher-type furnace into
Steel demand is tapped automatically.The control process of this application is only to judge which route the steel billet enters, and can not judge steel
Base whether off-square, deformation, impacting to off-square base can not estimate.
Summary of the invention
A kind of off-square based on machine vision provided by the invention detects automatic charging method, existing its object is to overcome
The above problem present in technology.
The technical solution adopted by the invention is as follows:
A kind of off-square detection automatic charging method based on machine vision, comprising the following steps:
(1) steel billet is sent into furnace roller road；
(2) four coordinates of the machine vision recognition system identification object of reference profile in the visual field；
(3) machine vision recognition system calculates two vanishing points by four coordinates of object of reference；Vanishing point is connected, determines Horizon
Line；
(4) machine vision recognition system identifies steel billet end profile, determines the apex coordinate of end face four；
(5) machine vision recognition system determines whether the profile line segment of object of reference and the end profile line segment of steel billet are parallel, judgement
Whether steel billet is off-square base；
(6) if machine vision recognition system determines that steel billet is normal, steel billet forward direction is transported to next station by entering furnace roller road；If
Machine vision recognition system determines that steel billet is off-square base, then the operation of automatic rejection steel billet can be performed.
Further, it is described enter furnace roller road, dial steel fork and conveyer belt by automatic control system according to machine vision recognition system
Testing result accordingly controlled.
Further, in the step (1), the steel billet on conveyer belt is sent into furnace roller road by dialling steel fork.
Further, the machine vision recognition system includes server interconnected, host computer and is set into furnace
Two video cameras of roller-way two sides after the influence for obtaining object of reference and steel billet by video camera, complete institute by host computer and server
Step (2) is stated to the detection of step (6) and determines content.
Further, in the step (6), the operation of automatic rejection steel billet is specifically that steel billet is reversely transported to steel into furnace roller road
Base collecting frame.
It is compared with existing technology, the present invention has the advantages that the present invention is judged automatically by machine vision recognition system
Current steel billet whether there is off-square situation, can be in the case where not influencing production, the off-square situation of automatic identification steel billet.When sentencing
When breaking as off-square base, system executes blank automatically and rejects operation, can stablize heating stove heating rhythm, reduce producing line piling of steel wind
Danger promotes producing line operating rate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatical feeding system in the present invention.
Fig. 2 is the imaging schematic diagram of video camera in the present invention.
Fig. 3 is the flow diagram of charging method in the present invention.
Specific embodiment
Illustrate a specific embodiment of the invention with reference to the accompanying drawings of the specification.In order to fully understand the present invention, it retouches below
Many details are stated, but to those skilled in the art, can also realize the present invention without these details.
The present invention utilizes the off-square base of the method intelligent recognition feeding skid of machine vision, and the off-square base that will identify that is certainly
It is dynamic to be rejected, stablize heating stove heating rhythm, reduce producing line piling of steel risk, promotes producing line operating rate.
The invention mainly comprises machine vision recognition systems and automatic control system.Knowledge is responsible for by machine vision recognition system
The steel billet that feeding skid front Chu be located at whether there is off-square situation, if there is off-square base, then certainly by automatic control system
The dynamic steel billet that carries out rejects operation.Particular content is as follows.
In machine vision recognition system, need to carry out the end face of the steel billet of each piece of feeding the detection of the depth of parallelism, due to
There are certain visual angles with steel billet end face for the video camera of machine vision recognition system, therefore in the same plane several flat
Row straight line can visually have certain collimation error.For this purpose, firstly the need of corresponding object of reference is arranged at steel billet detection,
For carrying out the calculating of visible sensation distance.
As shown in Figure 1, two video cameras 4 for entering 3 left and right sides of furnace roller road are the capture apparatus of machine vision recognition system
Part.Whether video camera can identify steel billet by visual identification algorithm by the way that object of reference (auxiliary girder steel) is arranged at the scene
Belong to off-square base.
Wherein, the profile of object of reference (auxiliary girder steel) is square, and object of reference and steel billet section are camera coverage institute
And range, meanwhile, object of reference (auxiliary girder steel) is consistent in camera coverage longitudinal direction with steel billet section, i.e. object of reference and steel billet
Section is in same plane.
Using the principle of pinhole imaging system, parallel straight line is mapped as intersecting straight lines on image by camera, this intersection point quilt
Referred to as vanishing point.It is considered that parallel space straight line intersects at infinity, vanishing point is then the picture of this intersection point.All levels
Parallel lines race all respectively intersect at infinite point a bit, these point constitute lines at infinity, this straight line is on the image
Picture cry horizon.And if two vanishing points link up, and line is exactly horizon.All points have one on horizon
Property: all straight lines drawn from a point thereon are all parallel to each other.
From the visual field of video camera, the picture of imaging is as shown in Fig. 2, the region AA-BB-CC-DD is object of reference profile.
The region A-C-D-B is the steel billet end profile that picture is presented.Since known object of reference is square object, it is relatively flat
The line of two vanishing points E, F that two capable sides are constituted constitute the horizon in camera coverage.At this point, passing through BA
Extend line segment to intersect with horizon, if crosspoint is point E, line segment BA is parallel with line segment DDAA.Similarly, determine line segment AC, CD,
Whether DB is parallel with line segment AABB, BBCC, CCDD respectively, if there is a condition to be unsatisfactory for, this steel billet is off-square base, can hold
The operation of row automatic rejection steel billet.
Referring to FIG. 1, FIG. 2 and FIG. 3, detailed process is as follows with operation is rejected for identification:
(1) automatic control system control dials steel fork 2 and the steel billet a on conveyer belt 1 is sent into furnace roller road 3.
(2) four coordinates of the machine vision recognition system identification object of reference profile in the visual field.Specifically, by machine vision
Image is sent to host computer 5 by the camera 4 in identifying system, identifies four of object of reference profile in the visual field by host computer 5
Coordinate, respectively point AA, point BB, point CC and point DD.
(3) machine vision recognition system calculates two vanishing points by four coordinates of object of reference；Vanishing point is connected, is determined
Horizon.Specifically, vanishing point is calculated according to four coordinates of object of reference, point AA, point BB, point CC and point DD by host computer 5
E and vanishing point F, and connect two vanishing points and determine horizon EF.
(4) machine vision recognition system identifies steel billet end profile, determines the apex coordinate of end face four.Specifically, by machine
Image is sent to host computer 5 by the camera 4 in device visual identifying system, is identified steel billet end profile by host computer 5, is determined end
Four, face apex coordinate, respectively point A, point C, point D and point B.
(5) machine vision recognition system determines whether line segment BA is parallel with line segment DDAA；Determine line segment AC whether with line segment
AABB is parallel；Determine whether line segment CD is parallel with line segment BBCC；Determine whether line segment DB is parallel with line segment CCDD, judges steel billet a
It whether is off-square base.
(6) it if machine vision recognition system determines that steel billet a is normal, is transported to by entering furnace roller road 3 for steel billet a forward direction next
Station；If machine vision recognition system determines that steel billet a is off-square base, the operation of automatic rejection steel billet can be performed, that is, enter furnace roller road 3
Steel billet a is reversely transported to steel billet collecting frame (being not drawn into figure).
Wherein, enter furnace roller road 3, dial steel fork 2 and conveyer belt 1 by automatic control system (not embodying in figure) according to above-mentioned machine
The testing result of visual identifying system is accordingly controlled, and the content of step (1) to step (6) is completed in cooperation.
The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited to this, all to utilize this
Design makes a non-material change to the present invention, and should all belong to behavior that violates the scope of protection of the present invention.
Claims (5)
1. a kind of off-square based on machine vision detects automatic charging method, which comprises the following steps:
(1) steel billet is sent into furnace roller road；
(2) four coordinates of the machine vision recognition system identification object of reference profile in the visual field；
(3) machine vision recognition system calculates two vanishing points by four coordinates of object of reference；Vanishing point is connected, determines Horizon
Line；
(4) machine vision recognition system identifies steel billet end profile, determines the apex coordinate of end face four；
(5) machine vision recognition system determines whether the profile line segment of object of reference and the end profile line segment of steel billet are parallel, judgement
Whether steel billet is off-square base；
(6) if machine vision recognition system determines that steel billet is normal, steel billet forward direction is transported to next station by entering furnace roller road；If
Machine vision recognition system determines that steel billet is off-square base, then the operation of automatic rejection steel billet can be performed.
2. a kind of off-square based on machine vision as described in claim 1 detects automatic charging method, it is characterised in that: described
In step (1), the steel billet on conveyer belt is sent into furnace roller road by dialling steel fork.
3. a kind of off-square based on machine vision as claimed in claim 2 detects automatic charging method, it is characterised in that: described
Enter furnace roller road, group steel fork and conveyer belt accordingly to be controlled by automatic control system according to the testing result of machine vision recognition system
System.
4. a kind of off-square based on machine vision as described in claim 1 detects automatic charging method, it is characterised in that: described
Machine vision recognition system includes server interconnected, host computer and is set to two camera shootings into furnace roller road two sides
Machine after the influence for obtaining object of reference and steel billet by video camera, completes the step (2) to step (6) by host computer and server
Detection and determine content.
5. a kind of off-square based on machine vision as described in claim 1 detects automatic charging method, it is characterised in that: described
In step (6), the operation of automatic rejection steel billet is specifically that steel billet is reversely transported to steel billet collecting frame into furnace roller road.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910238856.5A CN110044183B (en) | 2019-03-27 | 2019-03-27 | Fang detection automatic feeding method based on machine vision |
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| CN201910238856.5A CN110044183B (en) | 2019-03-27 | 2019-03-27 | Fang detection automatic feeding method based on machine vision |
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| CN110044183B CN110044183B (en) | 2020-02-07 |
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| CN112053333A (en) * | 2020-08-31 | 2020-12-08 | 中冶赛迪重庆信息技术有限公司 | Square billet detection method, system, equipment and medium based on machine vision |
| CN112233120A (en) * | 2020-12-16 | 2021-01-15 | 华东交通大学 | Off-square detection method and system based on point cloud data processing |
| CN112288746A (en) * | 2020-12-28 | 2021-01-29 | 江苏金恒信息科技股份有限公司 | Machine vision-based off-square detection method and detection system |
| CN113920105A (en) * | 2021-10-28 | 2022-01-11 | 中冶赛迪重庆信息技术有限公司 | Machine vision-based method, system, equipment and medium for identifying inclined steel in heating furnace |
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| CN113920105A (en) * | 2021-10-28 | 2022-01-11 | 中冶赛迪重庆信息技术有限公司 | Machine vision-based method, system, equipment and medium for identifying inclined steel in heating furnace |
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